EP2733680B1 - Procédé de fonctionnement d'une moissonneuse autotractée - Google Patents

Procédé de fonctionnement d'une moissonneuse autotractée Download PDF

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Publication number
EP2733680B1
EP2733680B1 EP13184487.0A EP13184487A EP2733680B1 EP 2733680 B1 EP2733680 B1 EP 2733680B1 EP 13184487 A EP13184487 A EP 13184487A EP 2733680 B1 EP2733680 B1 EP 2733680B1
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EP
European Patent Office
Prior art keywords
attachment
working machine
control unit
control apparatus
mounted implement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP13184487.0A
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German (de)
English (en)
Other versions
EP2733680B2 (fr
EP2733680A1 (fr
Inventor
Dominik Bürmann
Dr. Martin Kohlhase
Udo Beschorn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Claas Selbstfahrende Erntemaschinen GmbH
Original Assignee
Claas Selbstfahrende Erntemaschinen GmbH
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D84/00—Haymakers not provided for in a single one of groups A01D76/00 - A01D82/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers

Definitions

  • the present invention relates to a method for operating an agricultural work machine according to the preamble of claim 1 and to an agricultural work machine according to the preamble of claim 8.
  • the attachment has an electronic nameplate in the form of an RFID transponder, which is readable by means of a read / write device arranged on the tractor to identify the attachment and its configuration.
  • an operating parameter signal is generated by an operating parameter detection device, which contains information about the operation of the attachment.
  • the operating parameter signal is supplied to a memory device which stores operating documentation information derived from or corresponding to the operating parameter signal.
  • the memory device is arranged on the attachment and is read by a reading device.
  • the read-out operating parameter signals are transmitted via a bus system to an on-board computer system.
  • Operating parameters include operating hours, machined area, powertrain mechanical load, operating speed, throughput, type of crop, and environmental characteristics such as temperature, precipitation, or location information detected by a satellite-based position sensing system in the storage device deposited.
  • the according to the EP 1 378 863 A1 The provision of information provided in the storage device is not suitable for offloading an operator of the self-propelled work machine from a calibration and a renewed adjustment of the working or operating parameters of the attachment or front attachment after a device change.
  • the present invention is therefore based on the object to provide a method for operating a self-propelled work machine and a self-propelled machine for performing the method, which up or changeover times are reduced in an attachment or change of attachment or attachment.
  • the requested information for identification by the control unit can be evaluated to determine whether the attached attachment or attachment has previously been connected to the work machine. In this way, it can be automatically determined whether the attachment or attachment has been operated at least once in the past with the work machine, that is, the working machine is known to the attachment or attachment.
  • the evaluation can be transmitted from the control unit in this stored basic working data to the control device, by means of which the attachment or front attachment can be calibrated for initial startup and a basic setting can be carried out.
  • the transmission of basic work data for the Attachment or attachment is the starting point for later operation on the work machine.
  • this data can be sent to the control unit and stored in this.
  • a self-propelled working machine for carrying out the method wherein when connecting the attachment or attachment to the machine via a bus system data exchange between a control unit of the attachment or attachment and the control device of the machine can be initiated, and that can be checked by the control unit based on the data received from the control device, whether the control device is automatically configured by the control unit.
  • control unit for controlling actuators may be formed on the attachment or attachment.
  • This can be achieved by implementing the header functions, such as reel height control, ground copying, adjustment of the length of a multi-piece cutting table or the like into the control unit.
  • attachments such as maize header or maize picker and trained as tractors work machines to the attachments such as syringes, seeders, rakes, mowers, front loaders and the like are more connectable.
  • control unit can be in operative connection with sensors arranged on the attachment or attachment.
  • leads of the control device of the working machine and the control unit of the attachment or front attachment can be connected by coupling elements, which in addition to live leads additionally have a bus interface for connecting the bus systems of the working machine and the attachment or attachment.
  • the attachment or attachment feature in the control unit the complexity of the interface between the work machine and the attachment or attachment can be reduced. Along with this, the reliability of the connection between the coupling elements is increased.
  • a further advantage is that the complexity of the module software of the control device of the work machine is reduced, since implement-specific or attachment-specific software modules for the control device can be completely or at least partially dispensed with.
  • the present invention is described by way of example using the example of a combine harvester as an agricultural working machine and a cutting unit attached thereto as an attachment.
  • a combine harvester as an agricultural working machine and a cutting unit attached thereto as an attachment.
  • a forage harvester or a tractor can be used.
  • a corn picker in addition to the different cutting options also a corn picker, a pickup or a corn header can be used.
  • an attachment rake, turner, mowers, syringes or the like may be mentioned.
  • a combine harvester 1 is shown in the side view, on the vertically pivotable feed shaft 2 arranged as a header 3 attachment is arranged.
  • the cutting unit 3 is adjustable to a desired cutting height L.
  • the cutting unit 3 consists of a cutting table 4, and from a mounted on two herebyverschwenkbaren reel support arms 5 on the cutting table 4 reel 6.
  • Between the cutting table 4 and the reel support arms 5 are two hydraulic cylinders 7 articulated, with which the reel support arms 5 rotating about a hinge point 14, be pivoted while changing the altitude of the reel 6.
  • two further hydraulic cylinders 13 are mounted between the reel support arms 5 and the reel 6, with which the position of the reel in the horizontal direction in relation to the cutting table 4 is adjusted, as in Fig. 2 is shown.
  • the rotating with a motor designed as a motor 8 motor 6 driven reel ensures a continuous acceptance of the crop and its uniform promotion by the cutting unit 3 and the feed shaft 2 to a known and therefore not further explained threshing device 9 of the combine 1.
  • Das Crop is cut with a mounted on the front edge of the cutting table 4 cutter bar 10 and then the crops cut with the help of the reel 6 to a arranged in the cutting table 4, rotatably driven intake auger 11 promoted.
  • the auger 11 leads the crop to the intake shaft 2.
  • a feederhouse 12 which further promotes the crop to the threshing 9.
  • Downstream of the threshing 9 is a separation device 15, here in the form of a Horden—lers arranged.
  • the separation device 15 may also be designed as a separator.
  • the crop discharged from the threshing device 9 and the separating device 15 is fed to a cleaning device 16.
  • the control of the working units of the combine harvester 1 is carried out by a control device 28, which communicates via a bus system 25 with the working units in order to control or regulate them.
  • the control device 28 comprises a display, a data processing and an input device.
  • a control unit 27 arranged on the cutting unit 3 is connected to the bus system 25 by means of coupling elements 26.
  • the cutting unit 3 is made movable by the cutting unit 3 is guided in its height as well as in its bank.
  • the vertical height adjustment ie the longitudinal inclination compensation in the direction of travel as well as the change in the bank of the cutting unit 3, takes place in dependence on the current ground level and thus serves a uniform stubble height of the harvested crop.
  • Fig. 2 shows a section of the cutting unit 3 of the combine 1 according to Fig. 1 including the there arranged sensors 21, 22 and equipped with a data memory 24 and a microprocessor control unit 27, which serves to control the cutting unit 3.
  • the instantaneous reel height H of the reel 6 is measured with a rotational angle sensor 21 mounted in the hinge point 14, which measures a rotational angle ⁇ of the reel carrier arms 5.
  • a signal HHS generated by the rotation angle sensor 21 is directly proportional to the reel height H.
  • the hydraulic motor 8 is driven by a hydraulic drive system 29.
  • a pressure sensor 22 is installed, with which a hydraulic pressure is sensed, which varies depending on the reel torque M.
  • a signal HDS generated by the pressure sensor 22 is proportional to a load acting on the reel 6.
  • the load on the reel 6 is determined by the determination of the force acting on the reel 6 tensile force FH, which is defined by the reel torque M.
  • the signals HHS and HDS are supplied to the control unit 27 connected to the rotation angle sensor 21 and the pressure sensor 22, which controls the hydraulic drive system 29.
  • a cutting mechanism has a cutting trough, which consists of a fixed part and a movable part in order to vary the length of the cutting table in the processing of different Erntegutart can.
  • a cutting trough which consists of a fixed part and a movable part in order to vary the length of the cutting table in the processing of different Erntegutart can.
  • a control cam is connected to the side wall of the movable bowl part, with which cooperates a sensor mounted on the reel, wherein the sensor acts on the solenoid valves of the piston-cylinder unit, which are provided for raising and lowering the reel.
  • the control of the movable tray part as well as the reel is also carried out by the control unit on the cutting unit.
  • a method for operating an agricultural machine here the combine 1 is proposed, according to which when connecting the cutting unit 3 to the combine harvester 1 via a bus system 25, a data exchange between the control unit 27 of the cutting unit. 3 and the control device 28 of the combine 1 is initiated.
  • the control unit 27 uses the data received from the control device 28 to check whether the connected attachment device can be automatically configured by the control device 28.
  • plug-type coupling elements 26 which in addition to live lines also include a bus interface.
  • bus systems 25 for the attachment 3 and the work machine for example, CAN, LIN, Flexray, Ethernet or the like are used.
  • Figure 3 shows a flow chart, on the basis of which the method for operating an agricultural machine to which a header is connected, in the present embodiment using the combine harvester 1 mentioned in the embodiment, will be explained.
  • the starting point of the method is the connection of an attachment, in this case the cutting unit 3, to the working machine designed as a combine harvester 1.
  • the duration of the process of removal or conversion can be reduce if existing data of a calibration and a configuration to the control device 28 of the combine harvester 1 are transferable.
  • the control unit 27 of the cutting unit 3 is initialized by connecting the bus systems 25 of the cutting unit 3 to the bus system 25 of the combine harvester 1. That is, the physical coupling of the attachment to the bus system 25 of the combine harvester 1 and concomitantly to its power supply trigger the implementation of the method by the control unit 27.
  • the control unit of the cutting unit 3 and the combine harvester 1 enter via the bus system 25 in a data exchange.
  • a first query 51 it is checked whether the cutting unit 3 and the combine harvester 1 are compatible, that is, whether the control device 28 of the combine harvester 1 is automatically configured by the control unit 27 of the cutting unit 3. It is checked whether stored in the control unit 27 data such as device type, serial number, operating hours, maintenance counter, working width and weight of the attachment, the hydraulic configuration, stored set points for the bottom guide of the cutting unit 3, the reel 6, the cutting table 4, distances of Tastbügel, and the like, via the bus system 25 to the control device 28 can be transferred and stored in this.
  • the control unit 27 stores a basic configuration stored in its memory, the information, for example, about the type of device, the width, the weight, hours worked and the like of the attached attachment, automatically transmitted to the control device 28.
  • the first intermediate step 55 is followed by a second intermediate writing 56, according to which the calibration of the cutting mechanism 3 required for the startup is carried out manually by the operator.
  • This second intermediate step 56 could also be automated by storing in the control device 28 an algorithm which automatically performs the steps necessary for a calibration in dependence on the attached attachment.
  • the configuration including the calibration values stored in the control device 28 for the connected cutting unit 3 is transmitted to the control unit 27. These data are combined with information for the unique identification of the working machine, the combine harvester 1, and stored in the control unit 27 of the attachment, here the cutting unit 3. This is done in a third step 57, which is manually triggered by the operator or is carried out automatically after the operator, for example, the Process of calibration and configuration of the first connected header has confirmed by a corresponding acknowledgment of a query by the control device 28.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Zoology (AREA)
  • General Physics & Mathematics (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Harvester Elements (AREA)
  • Combines (AREA)
  • Agricultural Machines (AREA)
  • Outside Dividers And Delivering Mechanisms For Harvesters (AREA)

Claims (14)

  1. Procédé pour exploiter un engin agricole (1) auquel est relié un outil rapporté ou frontal (3), lequel est commandé par l'intermédiaire d'un dispositif de commande (28) associé à l'engin (1), caractérisé en ce que, lors d'une liaison de l'outil rapporté ou frontal (3) avec l'engin (1), un échange de données entre une unité de commande (27) de l'outil rapporté ou frontal (3) et le dispositif de commande (28) de l'engin (1) est lancé par l'intermédiaire d'un système de bus (25), et en ce que l'unité de commande (27) contrôle à l'aide des données reçues par le dispositif de commande (28) si le dispositif de commande (28) est configurable automatiquement par l'intermédiaire de l'unité de commande (27).
  2. Procédé selon la revendication 1, caractérisé en ce que, en cas de résultat positif du contrôle, des informations sont demandées par l'unité de commande (27) au dispositif de commande (28), lesquelles permettent une identification univoque de l'engin (1).
  3. Procédé selon la revendication 2, caractérisé en ce que les informations demandées aux fins d'identification sont analysées par l'unité de commande (27) pour savoir si l'outil rapporté ou frontal (3) relié a déjà été connecté à l'engin (1).
  4. Procédé selon la revendication 3, caractérisé en ce que, en cas de résultat positif de l'analyse, des données de travail stockées dans l'unité de commande (27) sont transmises par celle-ci au dispositif de commande (28) et permettent de paramétrer automatiquement l'outil rapporté ou frontal (3) et de réaliser un réglage.
  5. Procédé selon la revendication 3, caractérisé en ce que, en cas de résultat négatif de l'analyse, des données de travail de base stockées dans l'unité de commande (27) sont transmises par celle-ci au dispositif de commande (28) et permettent de paramétrer l'outil rapporté ou frontal (3) pour une mise en service initiale et de réaliser un réglage de base.
  6. Procédé selon la revendication 1, caractérisé en ce que, après un paramétrage et un réglage de base manuels de l'outil rapporté ou frontal (3), ces données sont transmises par le dispositif de commande (28) de l'engin (1) à l'unité de commande (27) et y sont mémorisées.
  7. Procédé selon la revendication 6, caractérisé en ce que, après un paramétrage et un réglage de base manuels de l'outil rapporté ou frontal (3), des informations pour l'identification de l'engin (1) sont transmises par le dispositif de commande (28) à l'unité de commande (27) et sont mémorisées par celle-ci.
  8. Engin agricole (1) auquel peut être relié un outil rapporté ou frontal (3), lequel peut être commandé par l'intermédiaire d'un dispositif de commande (28) associé à l'engin (1), agencé pour réaliser le procédé selon une des revendications 1 à 7, caractérisé en ce que, lors d'une liaison de l'outil rapporté ou frontal (3) avec l'engin (1), un échange de données entre une unité de commande (27) de l'outil rapporté ou frontal (3) et le dispositif de commande (28) de l'engin (1) peut être lancé par l'intermédiaire d'un système de bus (25), et en ce que l'unité de commande (27) peut contrôler à l'aide des données reçues du dispositif de commande (28) si le dispositif de commande (28) est configurable automatiquement par l'intermédiaire de l'unité de commande (27).
  9. Engin (1) selon la revendication 8, caractérisé en ce que l'unité de commande (27) est conçue pour commander des actionneurs (7, 8, 13) disposés sur l'outil rapporté ou frontal (3).
  10. Engin (1) selon une des revendications 8 ou 9, caractérisé en ce que l'unité de commande (27) est en liaison active avec des capteurs (21, 22) disposés sur l'outil rapporté ou frontal (3).
  11. Engin (1) selon une des revendications 8 à 10, caractérisé en ce que des lignes d'alimentation du dispositif de commande (28) de l'engin (1) et de l'unité de commande (27) de l'outil rapporté ou frontal (3) peuvent être reliées par l'intermédiaire d'éléments d'accouplement (26), lesquels comportent, en plus de lignes d'alimentation parcourues par du courant, une interface de bus pour relier les systèmes de bus (25) de l'engin (1) et de l'outil rapporté ou frontal (3).
  12. Engin (1) selon une des revendications 8 à 11, caractérisé en ce que l'engin est conformé en moissonneuse-batteuse, en ensileuse ou en tracteur.
  13. Engin (1) selon une des revendications 8 à 12, caractérisé en ce que l'outil frontal pouvant être relié à l'engin est conformé en tablier de coupe, en cueilleur à maïs, en pick-up ou en bec maïs.
  14. Engin (1) selon une des revendications 8 à 12, caractérisé en ce que l'outil rapporté pouvant être relié à l'engin est conformé en andaineur, en faneuse, en tête de fauchage ou en chargeur frontal.
EP13184487.0A 2012-11-16 2013-09-16 Procédé de fonctionnement d'une moissonneuse autotractée Active EP2733680B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012111029.8A DE102012111029A1 (de) 2012-11-16 2012-11-16 Verfahren zum Betreiben einer landwirtschaftlichen Arbeitsmaschine

Publications (3)

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EP2733680A1 EP2733680A1 (fr) 2014-05-21
EP2733680B1 true EP2733680B1 (fr) 2016-05-25
EP2733680B2 EP2733680B2 (fr) 2020-02-19

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EP (1) EP2733680B2 (fr)
DE (1) DE102012111029A1 (fr)
RU (1) RU2621252C2 (fr)
UA (1) UA115862C2 (fr)

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WO2020185764A1 (fr) 2019-03-11 2020-09-17 Cnh Industrial America Llc Véhicule agricole à hauteur de levage réglable sur la base de l'identification de la table de coupe
US11277966B2 (en) 2019-06-26 2022-03-22 Deere & Company Calibration synchronization for machine and implement
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Also Published As

Publication number Publication date
EP2733680B2 (fr) 2020-02-19
RU2013150610A (ru) 2015-05-20
EP2733680A1 (fr) 2014-05-21
RU2621252C2 (ru) 2017-06-01
DE102012111029A1 (de) 2014-05-22
UA115862C2 (uk) 2018-01-10

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